Intelligent sorting system and method for household garbage classification recyclable waste paper

Abstract

The invention discloses an intelligent sorting system and method for household garbage classification recyclable waste paper, and relates to the technical field of garbage classification. Household garbage needing to be sorted is fed, the household garbage in a feeding module is manually sorted, and different types of waste paper to be treated and garbage to be treated are obtained; the sorted waste paper to be treated and the sorted garbage to be treated are conveyed, and the waste paper to be treated is conveyed into a corresponding stock bin to be temporarily stored; performing image recognition on the to-be-treated waste paper and the to-be-treated garbage to obtain a corresponding recognition result; according to the recognition result, waste paper in the to-be-treated garbage is sorted through a sorting robot, corresponding to-be-packaged products are obtained, and the obtained to-be-packaged products are packaged; according to the waste paper fine sorting system, the whole design thought of equipment is adopted, automatic equipment and a control system are integrated, the fine sorting requirement of waste paper is met, the logistics transmission mode is optimized, and the sorting-storing-packaging integrated disposal process is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage classification, and in particular to a system and method for intelligently sorting recyclable waste paper from classified domestic garbage. Background Art

[0002] The intelligent sorting line for recyclables (waste paper) from classified domestic waste is designed to meet the requirements for the recycling and reuse of waste paper, the large space requirements, cumbersome material transfer, and low degree of automation of traditional paper sorting lines that rely solely on manual sorting. It adopts an overall equipment-based design concept and integrates automated equipment and control systems. It not only meets the needs for fine sorting of waste paper, but also optimizes the logistics transmission method, and realizes an integrated disposal process of sorting-storage-packaging. The intelligent sorting line for recyclables (waste paper) from classified domestic waste is highly automated and integrated, occupies a small area, has strong applicability, and is easy to operate and manage. The sorting line has functions such as sorting, storage, and packaging, including manual sorting platforms, intelligent sorting robots, balers, and other equipment, realizing modular, equipment-based, and automated waste paper sorting, which not only improves the efficiency and quality of waste paper recycling, but also has important significance for environmental protection, resource conservation, and the development of a circular economy.

[0003] How to realize the automatic sorting and recycling of waste paper is a problem we need to solve. To this end, a system and method for intelligent sorting of waste paper for classified recyclables of domestic waste is now provided. Summary of the invention

[0004] The object of the present invention is to provide a system and method for intelligently sorting waste paper of classified recyclable domestic waste.

[0005] The object of the present invention can be achieved by the following technical solutions: A system for intelligently sorting waste paper of classified recyclable household garbage, comprising a control center, wherein the control center is connected with a feeding module, a material conveying module, a material identification module, a sorting module and a packaging module;

[0006] The loading module is used to load the domestic waste that needs to be sorted, and manually sort the domestic waste in the loading module to obtain different types of waste paper and waste to be processed;

[0007] The material conveying module is used to convey the sorted waste paper to be processed and the garbage to be processed, and convey the waste paper to be processed to the corresponding silo for temporary storage;

[0008] The material recognition module is used to perform image recognition of the waste paper to be processed and the garbage to be processed, obtain corresponding recognition results, and upload the recognition results to the sorting module;

[0009] The sorting module is used to sort the waste paper in the garbage to be processed by a sorting robot according to the recognition result to obtain the corresponding products to be packaged;

[0010] The packaging module is used to package the obtained products to be packaged.

[0011] Furthermore, the loading module is used to load the domestic waste to be sorted, and the process of manually sorting the domestic waste in the loading module to obtain different types of waste paper and waste to be processed includes:

[0012] The domestic waste that needs to be sorted is placed on a manual sorting platform, and the domestic waste on the manual sorting platform is manually sorted. The yellow cardboard, flower cardboard, books and newspapers are picked out by manual sorting, and the picked out yellow cardboard, flower cardboard, books and newspapers are recorded as waste paper to be processed, and the remaining domestic waste is recorded as garbage to be processed, and the waste paper to be processed and the garbage to be processed are placed on the material conveying module.

[0013] Furthermore, the material conveying module is used to convey the sorted waste paper to be processed and the garbage to be processed, and the process of conveying the waste paper to be processed to the corresponding silo for temporary storage includes:

[0014] A sensor is set on the conveyor belt, and a sensing area is determined according to the position where the sensor is set;

[0015] The sorting robot is debugged according to the determined sensing area. After the debugging of the sorting robot is completed, the waste paper and garbage to be processed are placed on the conveyor belt, and the placed waste paper and garbage to be processed are transported to the sensing area through the conveyor belt;

[0016] A plurality of silos are provided at the end of the conveyor belt, each silo corresponding to a type of waste paper to be processed;

[0017] After the waste paper to be processed is transferred to the sensing area, the waste paper to be processed is identified by the material identification module, and the sorting robot sorts the waste paper to be processed according to the identification result and then transfers it to the corresponding silo;

[0018] An identification area is also provided on the conveyor belt, and the waste to be processed is placed on the conveyor belt, and the waste to be processed is transported to the identification area through the conveyor belt;

[0019] The material identification module is used to identify the waste to be processed in the identification area, and the target recyclables are selected from the waste to be processed based on the identification results.

[0020] Furthermore, the material identification module performs image recognition on the waste paper to be processed, and the process of obtaining the corresponding recognition result includes:

[0021] Construct a convolutional neural network model, and input sample data of yellow cardboard, flower cardboard, and books and newspapers into the convolutional neural network model to train the constructed convolutional neural network model;

[0022] After completing the training of the convolutional neural network model, the material recognition module performs image recognition on the waste paper to be processed that is transported to the sensing area by the conveyor belt to obtain the image to be recognized;

[0023] The obtained image to be identified is input into the trained convolutional neural network model to identify the waste paper to be processed in the sensing area, obtain the corresponding waste paper identification result, upload the waste paper identification result to the sorting module, and at the same time, the waste paper to be processed is transported to the grabbing area through the conveyor belt.

[0024] Furthermore, the material identification module performs image recognition on the waste to be processed, and the process of obtaining the corresponding recognition result includes:

[0025] Collecting image samples of shredded paper and Tetra Pak packages, and inputting the collected image samples into a convolutional neural network model to train the constructed convolutional neural network model;

[0026] After completing the training of the convolutional neural network model, the material recognition module performs image recognition on the waste to be processed that is transported to the recognition area by the conveyor belt to obtain the image to be recognized;

[0027] The obtained image to be identified is input into the trained convolutional neural network model to identify the garbage to be processed in the identification area. According to the identification result, the shredded paper and Tetra Pak in the garbage to be processed are marked, and the marking result is uploaded to the sorting module. At the same time, the shredded paper and Tetra Pak are conveyed to the grabbing area via the conveyor belt.

[0028] Furthermore, the sorting module sorts the waste paper in the waste to be processed by a sorting robot according to the recognition result, and the process of obtaining the corresponding products to be packaged includes:

[0029] Visual tracking debugging is performed on the sorting robot. After the visual tracking debugging of the sorting robot is completed, the sorting robot puts the identified yellow cardboard, flower cardboard, and newspapers into the corresponding silos according to the waste paper recognition results obtained, and then the packaging module packages the yellow cardboard, flower cardboard, and newspapers in each silo;

[0030] According to the box selection and marking results, the shredded paper and Tetra Pak packages in the garbage to be processed are selected, transported to the corresponding silo by the conveyor belt, and packaged by the packaging module.

[0031] Furthermore, the process of visual tracking debugging of the sorting robot includes:

[0032] Adjust the sorting robot to the debugging mode, select the conveyor belt in the visual tracking wizard interface, and calibrate the selected conveyor belt. After entering the calibration process, first select the target object on the conveyor belt, then adjust the sorting robot to the workpiece grasping mode, and then start the conveyor belt, so that the target object enters the grasping area, generates a grasping node, and stops the conveyor belt at the same time;

[0033] The sorting robot grabs the target object. After the sorting robot grabs the target object and leaves the conveyor belt at a specified distance, a start node is generated and the conveyor belt starts running, thereby completing the calibration process. After that, the calibration process is calibrated for accuracy, that is,

[0034] Turn on the robot and place a target object on the conveyor belt. After the target object enters the working area, the material recognition module identifies the distance deviation between the target object and the center point of the image;

[0035] According to the Cartesian coordinate system, adjust the X and Y values ​​of the coordinate system shown;

[0036] Then adjust the different placement angles of the target object on the conveyor belt;

[0037] Observe whether there is any offset in the X and Y directions during grasping. If so, adjust the grasping position of the sorting robot and execute the same method again until the correction is completed.

[0038] Furthermore, the process of the packaging module packaging the obtained products to be packaged includes:

[0039] After the feeding in the silo is completed, the baler press head moves forward to compact the waste paper. When the compaction force reaches the set value, the press head automatically returns and stops automatically when it reaches the rear limit travel switch to proceed to the next feeding action.

[0040] When the waste paper in the silo is compressed to the bale length, the feeding will stop automatically and the compressed waste paper will be threaded and baleed;

[0041] After the threading and strapping are completed, the silo outlet opens automatically, and after the waste paper is moved out of the silo, the silo outlet is closed, and then the silo is refilled, and so on, for the next packaging process.

[0042] Furthermore, a system for intelligently sorting waste paper from classified household waste and recyclables includes the following steps:

[0043] Step S1: loading the domestic waste to be sorted, and manually sorting the domestic waste in the loading module to obtain different types of waste paper and waste to be processed;

[0044] Step S2: transporting the sorted waste paper to be processed and garbage to be processed, and transporting the waste paper to be processed to the corresponding silo for temporary storage;

[0045] Step S3: performing image recognition on the waste paper to be processed and the garbage to be processed to obtain corresponding recognition results;

[0046] Step S4: sorting the waste paper in the garbage to be processed by a sorting robot according to the recognition result, obtaining corresponding products to be packaged, and packaging the obtained products to be packaged.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The adoption of an overall equipment-based design approach, integrated automation equipment and control systems, not only meets the needs for fine sorting of waste paper, but also optimizes the logistics transmission method, realizing an integrated disposal process of sorting-storage-packaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0050] Figure 1 It is a schematic diagram of the present invention. DETAILED DESCRIPTION

[0051] like Figure 1 As shown, a system for intelligently sorting waste paper from classified recyclable household garbage includes a control center, and the control center is connected to a feeding module, a material conveying module, a material identification module, a sorting module, and a packaging module;

[0052] The loading module is used to load the domestic waste that needs to be sorted, and manually sort the domestic waste in the loading module to obtain different types of waste paper and waste to be processed;

[0053] The material conveying module is used to convey the sorted waste paper to be processed and the garbage to be processed, and convey the waste paper to be processed to the corresponding silo for temporary storage;

[0054] The material recognition module is used to perform image recognition of the waste paper to be processed and the garbage to be processed, obtain corresponding recognition results, and upload the recognition results to the sorting module;

[0055] The sorting module is used to sort the waste paper in the garbage to be processed by a sorting robot according to the recognition result to obtain the corresponding products to be packaged;

[0056] The packaging module is used to package the obtained products to be packaged.

[0057] It should be further explained that, in the specific implementation process, the feeding module is used to feed the domestic waste to be sorted, and the process of manually sorting the domestic waste in the feeding module to obtain different types of waste paper and waste to be processed includes:

[0058] The domestic waste that needs to be sorted is placed on a manual sorting platform, and the domestic waste on the manual sorting platform is manually sorted. The yellow cardboard, flower cardboard, books and newspapers are picked out by manual sorting, and the picked out yellow cardboard, flower cardboard, books and newspapers are recorded as waste paper to be processed, and the remaining domestic waste is recorded as garbage to be processed, and the waste paper to be processed and the garbage to be processed are placed on the material conveying module.

[0059] The material conveying module is used to convey the sorted waste paper to be processed and the garbage to be processed, and the process of conveying the waste paper to be processed to the corresponding silo for temporary storage includes:

[0060] A sensor is set on the conveyor belt, and a sensing area is determined according to the position where the sensor is set;

[0061] The sorting robot is debugged according to the determined sensing area. After the debugging of the sorting robot is completed, the waste paper and garbage to be processed are placed on the conveyor belt, and the placed waste paper and garbage to be processed are transported to the sensing area through the conveyor belt;

[0062] A plurality of silos are provided at the end of the conveyor belt, each silo corresponding to a type of waste paper to be processed;

[0063] After the waste paper to be processed is transferred to the sensing area, the waste paper to be processed is identified by the material identification module, and the sorting robot sorts the waste paper to be processed according to the identification result and then transfers it to the corresponding silo;

[0064] An identification area is also provided on the conveyor belt, and the waste to be processed is placed on the conveyor belt, and the waste to be processed is transported to the identification area through the conveyor belt;

[0065] The material identification module is used to identify the waste to be processed in the identification area, and the target recyclables are selected from the waste to be processed based on the identification results.

[0066] It should be further explained that, in the specific implementation process, the material identification module performs image recognition on the waste paper to be processed, and the process of obtaining the corresponding recognition result includes:

[0067] Construct a convolutional neural network model, and input sample data of yellow cardboard, flower cardboard, and books and newspapers into the convolutional neural network model to train the constructed convolutional neural network model;

[0068] After completing the training of the convolutional neural network model, the material recognition module performs image recognition on the waste paper to be processed that is transported to the sensing area by the conveyor belt to obtain the image to be recognized;

[0069] The obtained image to be identified is input into the trained convolutional neural network model to identify the waste paper to be processed in the sensing area, obtain the corresponding waste paper identification result, upload the waste paper identification result to the sorting module, and at the same time, the waste paper to be processed is transported to the grabbing area through the conveyor belt.

[0070] It should be further explained that, in the specific implementation process, the material identification module performs image recognition on the waste to be processed, and the process of obtaining the corresponding recognition result includes:

[0071] Collecting image samples of shredded paper and Tetra Pak packages, and inputting the collected image samples into a convolutional neural network model to train the constructed convolutional neural network model;

[0072] After completing the training of the convolutional neural network model, the material recognition module performs image recognition on the waste to be processed that is transported to the recognition area by the conveyor belt to obtain the image to be recognized;

[0073] The obtained image to be identified is input into the trained convolutional neural network model to identify the garbage to be processed in the identification area. According to the identification result, the shredded paper and Tetra Pak in the garbage to be processed are marked, and the marking result is uploaded to the sorting module. At the same time, the shredded paper and Tetra Pak are conveyed to the grabbing area via the conveyor belt.

[0074] It should be further explained that, in the specific implementation process, the sorting module sorts the waste paper in the waste to be processed by the sorting robot according to the recognition result, and the process of obtaining the corresponding products to be packaged includes:

[0075] Visual tracking debugging is performed on the sorting robot. After the visual tracking debugging of the sorting robot is completed, the sorting robot puts the identified yellow cardboard, flower cardboard, and newspapers into the corresponding silos according to the waste paper recognition results obtained, and then the packaging module packages the yellow cardboard, flower cardboard, and newspapers in each silo;

[0076] According to the box selection and marking results, the shredded paper and Tetra Pak packages in the garbage to be processed are selected, transported to the corresponding silo by the conveyor belt, and packaged by the packaging module.

[0077] It should be further explained that, in the specific implementation process, the process of visual tracking debugging of the sorting robot includes:

[0078] Adjust the sorting robot to the debugging mode, select the conveyor belt in the visual tracking wizard interface, and calibrate the selected conveyor belt. After entering the calibration process, first select the target object on the conveyor belt, then adjust the sorting robot to the workpiece grasping mode, and then start the conveyor belt, so that the target object enters the grasping area, generates a grasping node, and stops the conveyor belt at the same time;

[0079] The sorting robot grabs the target object. After the sorting robot grabs the target object and leaves the conveyor belt at a specified distance, a start node is generated and the conveyor belt starts running, thereby completing the calibration process. After that, the calibration process is calibrated for accuracy, that is,

[0080] Turn on the robot and place a target object on the conveyor belt. After the target object enters the working area, the material recognition module identifies the distance deviation between the target object and the center point of the image;

[0081] According to the Cartesian coordinate system, adjust the X and Y values ​​of the coordinate system shown;

[0082] Then adjust the different placement angles of the target object on the conveyor belt;

[0083] Observe whether there is any offset in the X and Y directions during grasping. If so, adjust the grasping position of the sorting robot and execute the same method again until the correction is completed.

[0084] It should be further explained that, in a specific implementation process, the process of the packaging module packaging the obtained products to be packaged includes:

[0085] After the feeding in the silo is completed, the baler press head moves forward to compact the waste paper. When the compaction force reaches the set value, the press head automatically returns and stops automatically when it reaches the rear limit travel switch to proceed to the next feeding action.

[0086] When the waste paper in the silo is compressed to the bale length, the feeding will stop automatically and the compressed waste paper will be threaded and baleed;

[0087] After the threading and strapping are completed, the silo outlet opens automatically, and after the waste paper is moved out of the silo, the silo outlet is closed, and then the silo is refilled, and so on, for the next packaging process.

[0088] In another embodiment of the present invention, a system for intelligently sorting waste paper from classified domestic waste and recyclables is disclosed, comprising the following steps:

[0089] Step S1: loading the domestic waste to be sorted, and manually sorting the domestic waste in the loading module to obtain different types of waste paper and waste to be processed;

[0090] Step S2: transporting the sorted waste paper to be processed and garbage to be processed, and transporting the waste paper to be processed to the corresponding silo for temporary storage;

[0091] Step S3: performing image recognition on the waste paper to be processed and the garbage to be processed to obtain corresponding recognition results;

[0092] Step S4: sorting the waste paper in the garbage to be processed by a sorting robot according to the recognition result, obtaining corresponding products to be packaged, and packaging the obtained products to be packaged.

[0093] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments with equivalent changes without departing from the scope of the technical solution of the present invention. However, any modification or equivalent replacement of the above embodiments made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A system for intelligent sorting of household waste, recyclable waste paper, comprising a control center, characterized in that: The control center is connected to a loading module, a material conveying module, a material identification module, a sorting module and a packaging module; The loading module is used to load the domestic waste that needs to be sorted, and manually sort the domestic waste in the loading module to obtain different types of waste paper and waste to be processed; The material conveying module is used to convey the sorted waste paper to be processed and the garbage to be processed, and convey the waste paper to be processed to the corresponding silo for temporary storage; The material recognition module is used to perform image recognition of the waste paper to be processed and the garbage to be processed, obtain corresponding recognition results, and upload the recognition results to the sorting module; The sorting module is used to sort the waste paper in the garbage to be processed by a sorting robot according to the recognition result to obtain the corresponding products to be packaged; The packaging module is used to package the obtained products to be packaged.

2. According to claim 1, a system for intelligently sorting waste paper from classified recyclables of domestic waste is characterized in that: The loading module is used to load the domestic waste to be sorted. The process of manually sorting the domestic waste in the loading module to obtain different types of waste paper and waste to be processed includes: The domestic waste that needs to be sorted is placed on a manual sorting platform, and the domestic waste on the manual sorting platform is manually sorted. The yellow cardboard, flower cardboard, books and newspapers are picked out by manual sorting, and the picked out yellow cardboard, flower cardboard, books and newspapers are recorded as waste paper to be processed, and the remaining domestic waste is recorded as garbage to be processed, and the waste paper to be processed and the garbage to be processed are placed on the material conveying module.

3. According to claim 2, a system for intelligently sorting waste paper from classified recyclables of domestic waste is characterized in that: The material conveying module is used to convey the sorted waste paper to be processed and the garbage to be processed, and the process of conveying the waste paper to be processed to the corresponding silo for temporary storage includes: A sensor is arranged on the conveyor belt, and a sensing area is determined according to the position where the sensor is arranged; The sorting robot is debugged according to the determined sensing area. After the debugging of the sorting robot is completed, the waste paper and garbage to be processed are placed on the conveyor belt, and the placed waste paper and garbage to be processed are transported to the sensing area through the conveyor belt; A plurality of silos are provided at the end of the conveyor belt, each silo corresponding to a type of waste paper to be processed; After the waste paper to be processed is transferred to the sensing area, the waste paper to be processed is identified by the material identification module, and the sorting robot sorts the waste paper to be processed according to the identification result and then transfers it to the corresponding silo; An identification area is also provided on the conveyor belt, and the waste to be processed is placed on the conveyor belt, and the waste to be processed is transported to the identification area through the conveyor belt; The material identification module is used to identify the waste to be processed in the identification area, and the target recyclables are selected from the waste to be processed based on the identification results.

4. The intelligent sorting system for waste paper of classified recyclables of domestic waste according to claim 3 is characterized in that: The material identification module performs image recognition on the waste paper to be processed, and the process of obtaining the corresponding recognition result includes: Construct a convolutional neural network model, and input sample data of yellow cardboard, flower cardboard, and books and newspapers into the convolutional neural network model to train the constructed convolutional neural network model; After completing the training of the convolutional neural network model, the material recognition module performs image recognition on the waste paper to be processed that is transported to the sensing area by the conveyor belt to obtain the image to be recognized; The obtained image to be identified is input into the trained convolutional neural network model to identify the waste paper to be processed in the sensing area, obtain the corresponding waste paper identification result, upload the waste paper identification result to the sorting module, and at the same time, the waste paper to be processed is transported to the grabbing area through the conveyor belt.

5. The intelligent sorting system for waste paper of classified recyclable materials of domestic waste according to claim 4 is characterized in that: The material identification module performs image recognition on the waste to be processed, and the process of obtaining the corresponding recognition result includes: Collecting image samples of shredded paper and Tetra Pak packages, and inputting the collected image samples into a convolutional neural network model to train the constructed convolutional neural network model; After completing the training of the convolutional neural network model, the material recognition module performs image recognition on the waste to be processed that is transported to the recognition area by the conveyor belt to obtain the image to be recognized; The obtained image to be identified is input into the trained convolutional neural network model to identify the garbage to be processed in the identification area. According to the identification result, the shredded paper and Tetra Pak in the garbage to be processed are marked, and the marking result is uploaded to the sorting module. At the same time, the shredded paper and Tetra Pak are conveyed to the grabbing area via the conveyor belt.

6. The intelligent system for sorting recyclable waste paper from household garbage according to claim 5 is characterized in that: The sorting module sorts the waste paper in the waste to be processed by the sorting robot according to the recognition result, and the process of obtaining the corresponding products to be packaged includes: Visual tracking debugging is performed on the sorting robot. After the visual tracking debugging of the sorting robot is completed, the sorting robot puts the identified yellow cardboard, flower cardboard, and newspapers into the corresponding silos according to the waste paper recognition results obtained, and then the packaging module packages the yellow cardboard, flower cardboard, and newspapers in each silo; According to the box selection and marking results, the shredded paper and Tetra Pak packages in the garbage to be processed are selected, transported to the corresponding silo by the conveyor belt, and packaged by the packaging module.

7. The intelligent sorting system for waste paper of classified recyclable materials of domestic waste according to claim 6 is characterized in that: The process of visual tracking debugging of the sorting robot includes: Adjust the sorting robot to the debugging mode, select the conveyor belt in the visual tracking wizard interface, and calibrate the selected conveyor belt. After entering the calibration process, first select the target object on the conveyor belt, then adjust the sorting robot to the workpiece grasping mode, and then start the conveyor belt, so that the target object enters the grasping area, generates a grasping node, and stops the conveyor belt at the same time; The sorting robot grabs the target object. After the sorting robot grabs the target object and leaves the conveyor belt at a specified distance, a start node is generated and the conveyor belt starts running, thereby completing the calibration process. After that, the calibration process is calibrated for accuracy, that is, Turn on the robot and place a target object on the conveyor belt. After the target object enters the working area, the material recognition module identifies the distance deviation between the target object and the center point of the image; According to the Cartesian coordinate system, adjust the X and Y values ​​of the coordinate system shown; Then adjust the different placement angles of the target object on the conveyor belt; Observe whether there is any offset in the X and Y directions during grasping. If so, adjust the grasping position of the sorting robot and execute the same method again until the correction is completed.

8. The intelligent sorting system for waste paper of classified recyclable materials of domestic waste according to claim 7 is characterized in that: The process of packaging the obtained products to be packaged by the packaging module includes: After the feeding in the silo is completed, the baler press head moves forward to compact the waste paper. When the compaction force reaches the set value, the press head automatically returns and stops automatically when it reaches the rear limit travel switch to proceed to the next feeding action. When the waste paper in the silo is compressed to the bale length, the feeding will stop automatically and the compressed waste paper will be threaded and baleed; After the threading and strapping are completed, the silo outlet opens automatically, and after the waste paper is moved out of the silo, the silo outlet is closed, and then the silo is refilled, and so on, for the next packaging process.

9. The intelligent sorting system for waste paper from classified recyclables of domestic waste according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step S1: loading the domestic waste to be sorted, and manually sorting the domestic waste in the loading module to obtain different types of waste paper and waste to be processed; Step S2: transporting the sorted waste paper to be processed and garbage to be processed, and transporting the waste paper to be processed to the corresponding silo for temporary storage; Step S3: performing image recognition on the waste paper to be processed and the garbage to be processed to obtain corresponding recognition results; Step S4: sorting the waste paper in the garbage to be processed by a sorting robot according to the recognition result, obtaining corresponding products to be packaged, and packaging the obtained products to be packaged.

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